6,916 research outputs found
A Parametric Non-Convex Decomposition Algorithm for Real-Time and Distributed NMPC
A novel decomposition scheme to solve parametric non-convex programs as they
arise in Nonlinear Model Predictive Control (NMPC) is presented. It consists of
a fixed number of alternating proximal gradient steps and a dual update per
time step. Hence, the proposed approach is attractive in a real-time
distributed context. Assuming that the Nonlinear Program (NLP) is
semi-algebraic and that its critical points are strongly regular, contraction
of the sequence of primal-dual iterates is proven, implying stability of the
sub-optimality error, under some mild assumptions. Moreover, it is shown that
the performance of the optimality-tracking scheme can be enhanced via a
continuation technique. The efficacy of the proposed decomposition method is
demonstrated by solving a centralised NMPC problem to control a DC motor and a
distributed NMPC program for collaborative tracking of unicycles, both within a
real-time framework. Furthermore, an analysis of the sub-optimality error as a
function of the sampling period is proposed given a fixed computational power.Comment: 16 pages, 9 figure
Hybrid tractability of soft constraint problems
The constraint satisfaction problem (CSP) is a central generic problem in
computer science and artificial intelligence: it provides a common framework
for many theoretical problems as well as for many real-life applications. Soft
constraint problems are a generalisation of the CSP which allow the user to
model optimisation problems. Considerable effort has been made in identifying
properties which ensure tractability in such problems. In this work, we
initiate the study of hybrid tractability of soft constraint problems; that is,
properties which guarantee tractability of the given soft constraint problem,
but which do not depend only on the underlying structure of the instance (such
as being tree-structured) or only on the types of soft constraints in the
instance (such as submodularity). We present several novel hybrid classes of
soft constraint problems, which include a machine scheduling problem,
constraint problems of arbitrary arities with no overlapping nogoods, and the
SoftAllDiff constraint with arbitrary unary soft constraints. An important tool
in our investigation will be the notion of forbidden substructures.Comment: A full version of a CP'10 paper, 26 page
Markov Decision Processes with Multiple Long-run Average Objectives
We study Markov decision processes (MDPs) with multiple limit-average (or
mean-payoff) functions. We consider two different objectives, namely,
expectation and satisfaction objectives. Given an MDP with k limit-average
functions, in the expectation objective the goal is to maximize the expected
limit-average value, and in the satisfaction objective the goal is to maximize
the probability of runs such that the limit-average value stays above a given
vector. We show that under the expectation objective, in contrast to the case
of one limit-average function, both randomization and memory are necessary for
strategies even for epsilon-approximation, and that finite-memory randomized
strategies are sufficient for achieving Pareto optimal values. Under the
satisfaction objective, in contrast to the case of one limit-average function,
infinite memory is necessary for strategies achieving a specific value (i.e.
randomized finite-memory strategies are not sufficient), whereas memoryless
randomized strategies are sufficient for epsilon-approximation, for all
epsilon>0. We further prove that the decision problems for both expectation and
satisfaction objectives can be solved in polynomial time and the trade-off
curve (Pareto curve) can be epsilon-approximated in time polynomial in the size
of the MDP and 1/epsilon, and exponential in the number of limit-average
functions, for all epsilon>0. Our analysis also reveals flaws in previous work
for MDPs with multiple mean-payoff functions under the expectation objective,
corrects the flaws, and allows us to obtain improved results
The Power of Linear Programming for Valued CSPs
A class of valued constraint satisfaction problems (VCSPs) is characterised
by a valued constraint language, a fixed set of cost functions on a finite
domain. An instance of the problem is specified by a sum of cost functions from
the language with the goal to minimise the sum. This framework includes and
generalises well-studied constraint satisfaction problems (CSPs) and maximum
constraint satisfaction problems (Max-CSPs).
Our main result is a precise algebraic characterisation of valued constraint
languages whose instances can be solved exactly by the basic linear programming
relaxation. Using this result, we obtain tractability of several novel and
previously widely-open classes of VCSPs, including problems over valued
constraint languages that are: (1) submodular on arbitrary lattices; (2)
bisubmodular (also known as k-submodular) on arbitrary finite domains; (3)
weakly (and hence strongly) tree-submodular on arbitrary trees.Comment: Corrected a few typo
GIS and Network Analysis
Both geographic information systems (GIS) and network analysis are burgeoning fields, characterised by rapid methodological and scientific advances in recent years. A geographic information system (GIS) is a digital computer application designed for the capture, storage, manipulation, analysis and display of geographic information. Geographic location is the element that distinguishes geographic information from all other types of information. Without location, data are termed to be non-spatial and would have little value within a GIS. Location is, thus, the basis for many benefits of GIS: the ability to map, the ability to measure distances and the ability to tie different kinds of information together because they refer to the same place (Longley et al., 2001). GIS-T, the application of geographic information science and systems to transportation problems, represents one of the most important application areas of GIS-technology today. While traditional GIS formulation's strengths are in mapping display and geodata processing, GIS-T requires new data structures to represent the complexities of transportation networks and to perform different network algorithms in order to fulfil its potential in the field of logistics and distribution logistics. This paper addresses these issues as follows. The section that follows discusses data models and design issues which are specifically oriented to GIS-T, and identifies several improvements of the traditional network data model that are needed to support advanced network analysis in a ground transportation context. These improvements include turn-tables, dynamic segmentation, linear referencing, traffic lines and non-planar networks. Most commercial GIS software vendors have extended their basic GIS data model during the past two decades to incorporate these innovations (Goodchild, 1998). The third section shifts attention to network routing problems that have become prominent in GIS-T: the travelling salesman problem, the vehicle routing problem and the shortest path problem with time windows, a problem that occurs as a subproblem in many time constrained routing and scheduling issues of practical importance. Such problems are conceptually simple, but mathematically complex and challenging. The focus is on theory and algorithms for solving these problems. The paper concludes with some final remarks.
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Zero-one IP problems: Polyhedral descriptions & cutting plane procedures
A systematic way for tightening an IP formulation is by employing classes of linear inequalities that define facets of the convex hull of the feasible integer points of the respective problems. Describing as well as identifying these inequalities will help in the efficiency of the LP-based cutting plane methods. In this report, we review classes of inequalities that partially described zero-one poly topes such as the 0-1 knapsack polytope, the set packing polytope and the travelling salesman polytope. Facets or valid inequalities derived from the 0-1 knapsack and the set packing polytopes are algorithmically identifie
The complexity of Boolean surjective general-valued CSPs
Valued constraint satisfaction problems (VCSPs) are discrete optimisation
problems with a -valued objective function given as
a sum of fixed-arity functions. In Boolean surjective VCSPs, variables take on
labels from and an optimal assignment is required to use both
labels from . Examples include the classical global Min-Cut problem in
graphs and the Minimum Distance problem studied in coding theory.
We establish a dichotomy theorem and thus give a complete complexity
classification of Boolean surjective VCSPs with respect to exact solvability.
Our work generalises the dichotomy for -valued constraint
languages (corresponding to surjective decision CSPs) obtained by Creignou and
H\'ebrard. For the maximisation problem of -valued
surjective VCSPs, we also establish a dichotomy theorem with respect to
approximability.
Unlike in the case of Boolean surjective (decision) CSPs, there appears a
novel tractable class of languages that is trivial in the non-surjective
setting. This newly discovered tractable class has an interesting mathematical
structure related to downsets and upsets. Our main contribution is identifying
this class and proving that it lies on the borderline of tractability. A
crucial part of our proof is a polynomial-time algorithm for enumerating all
near-optimal solutions to a generalised Min-Cut problem, which might be of
independent interest.Comment: v5: small corrections and improved presentatio
Framework for sustainable TVET-Teacher Education Program in Malaysia Public Universities
Studies had stated that less attention was given to the education aspect, such as
teaching and learning in planning for improving the TVET system. Due to the 21st
Century context, the current paradigm of teaching for the TVET educators also has
been reported to be fatal and need to be shifted. All these disadvantages reported
hindering the country from achieving the 5th strategy in the Strategic Plan for
Vocational Education Transformation to transform TVET system as a whole.
Therefore, this study aims to develop a framework for sustainable TVET Teacher
Education program in Malaysia. This study had adopted an Exploratory Sequential
Mix-Method design, which involves a semi-structured interview (phase one) and
survey method (phase two). Nine experts had involved in phase one chosen by using
Purposive Sampling Technique. As in phase two, 118 TVET-TE program lecturers
were selected as the survey sample chosen through random sampling method. After
data analysis in phase one (thematic analysis) and phase two (Principal Component
Analysis), eight domains and 22 elements have been identified for the framework for
sustainable TVET-TE program in Malaysia. This framework was identified to embed
the elements of 21st Century Education, thus filling the gap in this research. The
research findings also indicate that the developed framework was unidimensional and
valid for the development and research regarding TVET-TE program in Malaysia.
Lastly, it is in the hope that this research can be a guide for the nations in producing a
quality TVET teacher in the future
On the reduction of the CSP dichotomy conjecture to digraphs
It is well known that the constraint satisfaction problem over general
relational structures can be reduced in polynomial time to digraphs. We present
a simple variant of such a reduction and use it to show that the algebraic
dichotomy conjecture is equivalent to its restriction to digraphs and that the
polynomial reduction can be made in logspace. We also show that our reduction
preserves the bounded width property, i.e., solvability by local consistency
methods. We discuss further algorithmic properties that are preserved and
related open problems.Comment: 34 pages. Article is to appear in CP2013. This version includes two
appendices with proofs of claims omitted from the main articl
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